According to the ancient wisdom told in the distant days of the bygone era of Dvapara Yuga by Krishna Arjuna at Kurukshetra, as expounded in the Bhagavad-gita, there are the following types of yoga including https://www.julianalucky.com/post/mommy-and-me-yoga-benefits:
Karma yoga – the path of selfless service. This is the way we go when we do not seek personal benefit as a result of our deeds, but follow the call of our heart and soul. As long as we play roles in life, performing other people’s duties, we are insincere to ourselves – so we have an attachment to the results of our activities, for such activities we do not perform from the soul. The path of karma yoga teaches us that all our accomplishments must be dedicated to the benefit of the world and all living beings.
Jnana yoga is the path of knowledge of life, which takes place in a constant search for truth. Our whole life is a storehouse of great wisdom. Observe life; every event carries a lesson given to us for the sake of self-discovery. We study ourselves, our behavior, our desires, our thinking and the consequences of it. The path of knowledge leads us to wisdom. Only he who has realized his true self can be called a yogi.
Bhakti yoga is the path of devotional service to the Almighty. It is based on love for God, who dwells in all things. Every living being is a particle of the divine manifestation. Therefore, true love for god is not just the worship of some deity, but love for all living things. This way of Bhakti will help us to see God in ourselves and in every living being.
The Bhagavad-gita says nothing about hatha yoga. The practice of asanas was originally mentioned in such classical treatises on hatha-yoga as the Gheranda Samhita, the Goraksha Paddhati, the Shiva Samhita, and the Hatha Yoga Pradipika.